Robot Hand Imitating Disabled Person for Education/Training of Rehabilitation | Zendy

Tetsuya Mouri | Zendy; Haruhisa Kawasaki | Zendy; Yutaka Nishimoto | Zendy; Takaaki Aoki | Zendy; Yasuhiko Ishigure | Zendy; Makoto Tanahashi | Zendy

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Robot Hand Imitating Disabled Person for Education/Training of Rehabilitation

Author(s) -

Tetsuya Mouri,

Haruhisa Kawasaki,

Yutaka Nishimoto,

Takaaki Aoki,

Yasuhiko Ishigure,

Makoto Tanahashi

Publication year - 2008

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2008.p0280

Subject(s) - rehabilitation , physical medicine and rehabilitation , wrist , robot , grasp , torque , contracture , computer science , finger joint , robotic hand , tendon , simulation , psychology , human–computer interaction , physical therapy , artificial intelligence , medicine , anatomy , physics , surgery , radiology , programming language , thermodynamics

Because rehabilitation therapy students have few chances to train on disabled persons, we developed a robot hand for finger and wrist rehabilitation training, working hand with doctors and therapists, based on new design concepts imitating the disabled human hand. A joint torque rehabilitation program is calculated using distributed tactile sensors and a model of contracture joints with tendon adhesion. The hand is controlled by the force control based on torque control. The hand's effectiveness was demonstrated experimentally, and the robot is used by therapists to evaluate its efficacy.

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